Adds a context pointer to subscriptions #107

BrettRD · 2021-06-30T01:51:16Z

This pull request adds a subscription callback carrying a context pointer
This pull request includes all of the changes from from #106, it might be saner if that happens first

JanStaschulat · 2021-06-30T09:59:00Z

@BrettRD Please add yourself in the NOTICE file.

JanStaschulat · 2021-07-05T14:15:11Z

Could you pull foxy branch (with merged PR #106) into this one? This will start the ci-jobs again.

Signed-off-by: BrettRD <[email protected]>

BrettRD · 2021-07-05T14:50:11Z

I tried to rebase onto foxy to satisfy DCO but it reverted a few things.
Fixing that now

This reverts commit 0ed3bf0. Signed-off-by: BrettRD <[email protected]>

This reverts commit a201b6d. Signed-off-by: BrettRD <[email protected]>

Signed-off-by: BrettRD <[email protected]>

codecov-commenter · 2021-07-06T01:54:39Z

Codecov Report

Merging #107 (d75c2f0) into foxy (1a6a50b) will decrease coverage by 0.40%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             foxy     #107      +/-   ##
==========================================
- Coverage   29.08%   28.68%   -0.41%     
==========================================
  Files          27       28       +1     
  Lines        3060     3246     +186     
  Branches     1620     1679      +59     
==========================================
+ Hits          890      931      +41     
- Misses        814      914     +100     
- Partials     1356     1401      +45

Impacted Files	Coverage Δ
...os_ws/src/rxlgfln327g/rclc/rclc/src/rclc/service.c
...gfln327g/rclc/rclc/test/rclc/test_subscription.cpp
...ln327g/rclc/rclc_lifecycle/test/test_lifecycle.cpp
.../rxlgfln327g/rclc/rclc/test/rclc/test_executor.cpp
ros_ws/src/rxlgfln327g/rclc/rclc/src/rclc/client.c
...s_ws/src/rxlgfln327g/rclc/rclc/src/rclc/executor.c
.../src/rxlgfln327g/rclc/rclc/src/rclc/subscription.c
...7g/rclc/rclc_examples/src/example_lifecycle_node.c
...src/rxlgfln327g/rclc/rclc/test/rclc/test_timer.cpp
...n327g/rclc/rclc/test/rclc/test_executor_handle.cpp
... and 45 more

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Signed-off-by: BrettRD <[email protected]>

BrettRD · 2021-07-06T02:12:03Z

I think this feature would benefit from a test that checks context is only passed when the subscription requests it

pablogs9 · 2021-07-07T07:12:36Z

rclc/src/rclc/executor.c

-        } else {
-          handle->callback(NULL);
+        switch (handle->callback_type) {
+          case CB_WITHOUT_REQUEST_ID:


Should this be something like CB_WITHOUT_CONTEXT?

Yes.

CB_WITHOUT_REQUEST_ID comes from when request_id was added to services in Nov2020,
4bc9c13#diff-682b2c9ebab8a01f15a96d651ebc0e2aec2748f7abfafe288a48f9eb9fcc8786R48-R53
CB_WITHOUT_REQUEST_ID was treated like a default callback_type for the original api. It made sense when the request ID was the only special case, and only for services

I don't think it needs another callback-type, just a better name.

handle.callback_type is never checked without first checking handle.type, so I can also see an argument for eliminating handle.callback_type and extending handle.type to match 1:1 with all the types in the handle's function-pointer union:

rclc/rclc/include/rclc/executor_handle.h

Lines 139 to 148 in c7e09de

union {

rclc_callback_t callback;

rclc_subscription_callback_with_context_t subscription_callback_with_context;

rclc_service_callback_t service_callback;

rclc_service_callback_with_request_id_t service_callback_with_reqid;

rclc_service_callback_with_context_t service_callback_with_context;

rclc_client_callback_t client_callback;

rclc_client_callback_with_request_id_t client_callback_with_reqid;

rclc_gc_callback_t gc_callback;

};

Yes, I agree. Initally, we only had services, subscriptions, clients. Now we have multiple types of callbacks for subscriptions, services and clients:

with request id/without request id (for services/clients),

with context, without context (for subscriptions/clients/services).

It would make sense to refactor handle->type and add e..g
SERVICE_WITH_REQ_ID
SERVICE_WITHOUT_REQ_ID
SERVICE_WITHOUT_CONTEXT
SERVICE_WITH_CONTEXT
SUBSCRIPTION_WITH_CONTEXT
SUBSCRIPTION_WITHOUT_CONTEXT
same for CLIENTS ...
(quite a number of types ...)

the request-id is currently not used in services with context.
@norro @pablogs9 @BrettRD I propose to keep the structure like this in this pull request. Opened a new issue for discussing how to simplify callback-type and handle-type variables.
Issue: #116

@norro. It looks like that the implementation of the client callback with context is not properly called: it only calls the client callback without context:

rclc/rclc/src/rclc/executor.c

Line 976 in 0263722

handle->client_callback(handle->data);

You never use a client callback with context?

Added an issue for that :#115

JanStaschulat

looks great to me. Please just add test cases with the the executor_spin_some and an example in rclc_examples.

JanStaschulat · 2021-07-09T07:47:52Z

rclc/test/rclc/test_executor.cpp

+  rc = rclc_executor_fini(&executor);
+  EXPECT_EQ(RCL_RET_OK, rc) << rcl_get_error_string().str;
+}
+


would need a test case where you add a subscription with a context, publish data and check if the data was correctly handled, like this one for service_with_context

rclc/rclc/test/rclc/test_executor.cpp

Line 2347 in 0263722

TEST_F(TestDefaultExecutor, executor_test_service_with_context) {

or a simplified version of this test case spin_some_sequential_execution

rclc/rclc/test/rclc/test_executor.cpp

Line 1241 in 0263722

TEST_F(TestDefaultExecutor, spin_some_sequential_execution) {

in your test case you only need one subsction. e.g. add_subscription to executor , publish a topic, wait for some time, call spin_some and then copy the received data and the context data in the subscription_with_context_callback to a global variable. These ones you can then check in the test case.

Would be great, if you could add an example in rclc_examples repository that shows how to use this feature. You could use this one as a base-line
https://github.com/ros2/rclc/blob/master/rclc_examples/src/example_executor_convenience.c

Test added, Example added.
I don't think I can reliably test that context is not passed to a regular subscription; That would need a very carefully crafted stack canary, and it would be quite brittle to nearby changes.

JanStaschulat · 2021-07-09T08:18:45Z

rclc/src/rclc/executor.c

@@ -222,6 +222,7 @@ rclc_executor_add_subscription(
  executor->handles[executor->index].subscription = subscription;
  executor->handles[executor->index].data = msg;
  executor->handles[executor->index].callback = callback;
+  executor->handles[executor->index].callback_type = CB_WITHOUT_REQUEST_ID;


Why do you want to change this? Default is CB_UNDEFINED

The type CB_WITH_REQUEST_ID and CB_WITHOUT_REQUEST_IDis currently used for services/clients.

I would also prefer CB_WITHOUT_CONTEXT

The subscriptions without context need something in their callback_type that is well-defined, but has neither request-id nor context. CB_WITHOUT_CONTEXT sounds more generic, but is no more informative than CB_WITHOUT_REQUEST_ID, and would require another enum value.
(excuse me if this argument is already settled elsewhere, I'm catching up on the recent activity)

Sure, but CB_WITHOUT_REQUEST_ID only makes sense for services and clients. CB_WITHOUT_CONTEXT is informative, that it is a normal callback. If you prefer another wording, how about CB_DEFAULT as a neutral enum value.

JanStaschulat · 2021-07-09T08:35:05Z

rclc/src/rclc/executor.c

-        } else {
-          handle->callback(NULL);
+        switch (handle->callback_type) {
+          case CB_WITHOUT_REQUEST_ID:


Yes, I agree. Initally, we only had services, subscriptions, clients. Now we have multiple types of callbacks for subscriptions, services and clients:

with request id/without request id (for services/clients),

with context, without context (for subscriptions/clients/services).

It would make sense to refactor handle->type and add e..g
SERVICE_WITH_REQ_ID
SERVICE_WITHOUT_REQ_ID
SERVICE_WITHOUT_CONTEXT
SERVICE_WITH_CONTEXT
SUBSCRIPTION_WITH_CONTEXT
SUBSCRIPTION_WITHOUT_CONTEXT
same for CLIENTS ...
(quite a number of types ...)

the request-id is currently not used in services with context.
@norro @pablogs9 @BrettRD I propose to keep the structure like this in this pull request. Opened a new issue for discussing how to simplify callback-type and handle-type variables.
Issue: #116

@norro. It looks like that the implementation of the client callback with context is not properly called: it only calls the client callback without context:

rclc/rclc/src/rclc/executor.c

Line 976 in 0263722

handle->client_callback(handle->data);

You never use a client callback with context?

JanStaschulat · 2021-07-09T08:44:58Z

rclc/src/rclc/executor.c

-        } else {
-          handle->callback(NULL);
+        switch (handle->callback_type) {
+          case CB_WITHOUT_REQUEST_ID:


Added an issue for that :#115

JanStaschulat · 2021-07-09T08:57:53Z

You can ignore the failing build on Dashing. I already updated the "required checks" settings for Foxy, But, I guess, it does not take effect here, as the PR had already been created.

Signed-off-by: BrettRD <[email protected]>

JanStaschulat · 2021-07-13T11:18:44Z

@mergify backport galactic master

(cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt

mergify · 2021-07-13T11:19:44Z

Command backport galactic master: success

Backports have been created

#120 Adds a context pointer to subscriptions (backport #107) has been created for branch galactic

#121 Adds a context pointer to subscriptions (backport #107) has been created for branch master

Hey, I reacted but my real name is @Mergifyio

* Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge conflict. Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]>

* Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge confict Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]>

JanStaschulat · 2021-07-17T07:19:15Z

solves #50

* Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge confict Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]>

* Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge confict Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]>

* ci workflow for galactic (#90) Signed-off-by: Jan Staschulat <[email protected]> * galactic: updated ci-job and codecov (#91) * bump version to 2.0.1 of galactic branch for new bloom release (#95) * Dummy (#100) * test of galactic bloom release see also #100 (#101) * Adds a context pointer to subscriptions (backport #107) (#120) * Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge confict Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> * version bump and updated changelog. (#139) Signed-off-by: Jan Staschulat <[email protected]> * prepare bloom release v2.0.3 for galactic (#159) Signed-off-by: Jan Staschulat <[email protected]> * refactor #116 remove callback_type (#154) (#163) * refactor #116 remove callback_type Signed-off-by: BrettRD <[email protected]> * rename subscription callback Signed-off-by: BrettRD <[email protected]> * deduplicate remove functions Signed-off-by: BrettRD <[email protected]> (cherry picked from commit 700ea24) Co-authored-by: Brett Downing <[email protected]> * updated rcl dependency to galactic (#184) Signed-off-by: Jan Staschulat <[email protected]> * added pingpong example (#172) (#188) * added pingpong example Signed-off-by: Jan Staschulat <[email protected]> * added two executor configuration to pingpong Signed-off-by: Jan Staschulat <[email protected]> * example_pingpong multiple files Signed-off-by: Jan Staschulat <[email protected]> * added class member function to executor Signed-off-by: Jan Staschulat <[email protected]> (cherry picked from commit e0252bd) Co-authored-by: Jan Staschulat <[email protected]> * prepare bloom release 2.0.4-galactic (#193) Signed-off-by: Jan Staschulat <[email protected]> * Copy client to action client Initial mods to action client Initial executor support for action client Updates Fix Updates Copy client action to server action Initial action server changes Fix Revert "Copy client to action client" This reverts commit 304c70a. Initial Update Working state Uncrustify fix Update Update Add client Uncrustify Uncrus Apply suggestions from code review Co-authored-by: Ralph Lange <[email protected]> Initial test Fix data available logic Update tests Update Uncrust Revert "Update" This reverts commit 940aa96. Working state Working Building state Update Working state Working state Working state Uncrust Updates Fix cancelling reject Test approach modified Complete server tests Uncrusti Add multigoal test Fix Initial action client tests Add executor client cancel handlers Update action client Add cancel tests Tests update Uncrustify Refactor cancel response handling Update * Revert "Copy client to action client" This reverts commit d65adc7. * Initial version * Hide non public API * Fix abort API * Minor fix * Update * Fix * Add rclcpp dep * Update actions implementation * Delete COLCON_IGNORE * Fix dependencies export * cpplint * Initial Ralph changes Co-authored-by: Ralph Lange <[email protected]> * Add RCLC error * Refactor pop/take inner functions * Argument renaming * Argument renaming * Rename get API to find * Reafctor functio naming * Refactor naming * Remove explicit == true in conditionals * Update rclc/src/rclc/executor.c Co-authored-by: Ralph Lange <[email protected]> * Update rclc/src/rclc/executor.c Co-authored-by: Ralph Lange <[email protected]> * Remove white lines * Update rclc/src/rclc/action_server.c * Apply suggestions from code review Co-authored-by: Jan Staschulat <[email protected]> * Apply suggestions from code review Co-authored-by: Jan Staschulat <[email protected]> * Add pointer check suggestions * Apply suggestions on executor * Add check for feedback msg on client * Put goal on default switch case * Revert code delete * Add comments to executor loops * Update loop comments * Apply for loop style where possible * Fix variable name * Fix rebase * ci workflow for galactic (#90) Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * galactic: updated ci-job and codecov (#91) Signed-off-by: Antonio Cuadros <[email protected]> * bump version to 2.0.1 of galactic branch for new bloom release (#95) Signed-off-by: Antonio Cuadros <[email protected]> * Dummy (#100) Signed-off-by: Antonio Cuadros <[email protected]> * test of galactic bloom release see also #100 (#101) Signed-off-by: Antonio Cuadros <[email protected]> * Adds a context pointer to subscriptions (backport #107) (#120) * Adds a context pointer to subscriptions (#107) (cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt * resolved merge confict Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * version bump and updated changelog. (#139) Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * prepare bloom release v2.0.3 for galactic (#159) Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * refactor #116 remove callback_type (#154) (#163) * refactor #116 remove callback_type Signed-off-by: BrettRD <[email protected]> * rename subscription callback Signed-off-by: BrettRD <[email protected]> * deduplicate remove functions Signed-off-by: BrettRD <[email protected]> (cherry picked from commit 700ea24) Co-authored-by: Brett Downing <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * updated rcl dependency to galactic (#184) Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * added pingpong example (#172) (#188) * added pingpong example Signed-off-by: Jan Staschulat <[email protected]> * added two executor configuration to pingpong Signed-off-by: Jan Staschulat <[email protected]> * example_pingpong multiple files Signed-off-by: Jan Staschulat <[email protected]> * added class member function to executor Signed-off-by: Jan Staschulat <[email protected]> (cherry picked from commit e0252bd) Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * prepare bloom release 2.0.4-galactic (#193) Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Copy client to action client Initial mods to action client Initial executor support for action client Updates Fix Updates Copy client action to server action Initial action server changes Fix Revert "Copy client to action client" This reverts commit 304c70a. Initial Update Working state Uncrustify fix Update Update Add client Uncrustify Uncrus Apply suggestions from code review Co-authored-by: Ralph Lange <[email protected]> Initial test Fix data available logic Update tests Update Uncrust Revert "Update" This reverts commit 940aa96. Working state Working Building state Update Working state Working state Working state Uncrust Updates Fix cancelling reject Test approach modified Complete server tests Uncrusti Add multigoal test Fix Initial action client tests Add executor client cancel handlers Update action client Add cancel tests Tests update Uncrustify Refactor cancel response handling Update Signed-off-by: Antonio Cuadros <[email protected]> * Revert "Copy client to action client" This reverts commit d65adc7. Signed-off-by: Antonio Cuadros <[email protected]> * Initial version Signed-off-by: Antonio Cuadros <[email protected]> * Hide non public API Signed-off-by: Antonio Cuadros <[email protected]> * Fix abort API Signed-off-by: Antonio Cuadros <[email protected]> * Minor fix Signed-off-by: Antonio Cuadros <[email protected]> * Update Signed-off-by: Antonio Cuadros <[email protected]> * Fix Signed-off-by: Antonio Cuadros <[email protected]> * Add rclcpp dep Signed-off-by: Antonio Cuadros <[email protected]> * Update actions implementation Signed-off-by: Antonio Cuadros <[email protected]> * Delete COLCON_IGNORE Signed-off-by: Antonio Cuadros <[email protected]> * Fix dependencies export Signed-off-by: Antonio Cuadros <[email protected]> * cpplint Signed-off-by: Antonio Cuadros <[email protected]> * Initial Ralph changes Co-authored-by: Ralph Lange <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Add RCLC error Signed-off-by: Antonio Cuadros <[email protected]> * Refactor pop/take inner functions Signed-off-by: Antonio Cuadros <[email protected]> * Argument renaming Signed-off-by: Antonio Cuadros <[email protected]> * Argument renaming Signed-off-by: Antonio Cuadros <[email protected]> * Rename get API to find Signed-off-by: Antonio Cuadros <[email protected]> * Reafctor functio naming Signed-off-by: Antonio Cuadros <[email protected]> * Refactor naming Signed-off-by: Antonio Cuadros <[email protected]> * Remove explicit == true in conditionals Signed-off-by: Antonio Cuadros <[email protected]> * Update rclc/src/rclc/executor.c Co-authored-by: Ralph Lange <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Update rclc/src/rclc/executor.c Co-authored-by: Ralph Lange <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Remove white lines Signed-off-by: Antonio Cuadros <[email protected]> * Update rclc/src/rclc/action_server.c Signed-off-by: Antonio Cuadros <[email protected]> * Apply suggestions from code review Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Apply suggestions from code review Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Antonio Cuadros <[email protected]> * Add pointer check suggestions Signed-off-by: Antonio Cuadros <[email protected]> * Apply suggestions on executor Signed-off-by: Antonio Cuadros <[email protected]> * Add check for feedback msg on client Signed-off-by: Antonio Cuadros <[email protected]> * Put goal on default switch case Signed-off-by: Antonio Cuadros <[email protected]> * Revert code delete Signed-off-by: Antonio Cuadros <[email protected]> * Add comments to executor loops Signed-off-by: Antonio Cuadros <[email protected]> * Update loop comments Signed-off-by: Antonio Cuadros <[email protected]> * Apply for loop style where possible Signed-off-by: Antonio Cuadros <[email protected]> * Fix variable name Signed-off-by: Antonio Cuadros <[email protected]> * Fix rebase Signed-off-by: Antonio Cuadros <[email protected]> * Apply suggestions from code review Co-authored-by: Jan Staschulat <[email protected]> * removed unneccary reset of handle->data_available , in _rclc_check_for_new_data this flag is assigned again. Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * Change put goal function name Co-authored-by: Jan Staschulat <[email protected]> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Brett Downing <[email protected]> Co-authored-by: Antonio Cuadros <[email protected]> Co-authored-by: Ralph Lange <[email protected]> Co-authored-by: Antonio Cuadros <[email protected]>

ros-discourse · 2022-05-25T17:21:11Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-humble-hawksbill-released/25729/14

BrettRD changed the base branch from master to foxy June 30, 2021 01:59

BrettRD mentioned this pull request Jun 30, 2021

Allow passing context to subscription callbacks #50

Closed

BrettRD and others added 15 commits July 6, 2021 00:43

add a service callback with context

54ec3ca

Signed-off-by: BrettRD <[email protected]>

type and logic fixes

b471d64

Signed-off-by: BrettRD <[email protected]>

context name

faa3591

Signed-off-by: BrettRD <[email protected]>

set callback_type on subscriptions

fc6e563

Signed-off-by: BrettRD <[email protected]>

add remove subscription API

a201b6d

Signed-off-by: BrettRD <[email protected]>

typos

bc5e7a8

Signed-off-by: BrettRD <[email protected]>

keep order of handles when removing subscription

cd31f61

Signed-off-by: BrettRD <[email protected]>

strict typing in array index

764708a

Signed-off-by: BrettRD <[email protected]>

linter edits

a94abfd

Signed-off-by: BrettRD <[email protected]>

re-run linters

d2cfb1a

Signed-off-by: BrettRD <[email protected]>

set ci to track feature

0ed3bf0

Signed-off-by: BrettRD <[email protected]>

add tests for remove and subscription context

d6eeb93

Signed-off-by: BrettRD <[email protected]>

fix linting in test

26655f6

Signed-off-by: BrettRD <[email protected]>

restore foxy ci

dfec98b

Signed-off-by: BrettRD <[email protected]>

add contributor name

d4221fb

Signed-off-by: BrettRD <[email protected]>

BrettRD force-pushed the subscription_context branch from bf0dfe6 to d4221fb Compare July 5, 2021 14:48

BrettRD marked this pull request as draft July 5, 2021 14:51

BrettRD added 4 commits July 6, 2021 11:47

Revert "set ci to track feature"

a1ff0f7

This reverts commit 0ed3bf0. Signed-off-by: BrettRD <[email protected]>

Revert "add remove subscription API"

ba33010

This reverts commit a201b6d. Signed-off-by: BrettRD <[email protected]>

cherrypick changes from revert

38bb02a

Signed-off-by: BrettRD <[email protected]>

restore remove gc

84dd490

Signed-off-by: BrettRD <[email protected]>

BrettRD marked this pull request as ready for review July 6, 2021 01:58

BrettRD added 2 commits July 6, 2021 12:01

remove old duplicate test

11501a7

Signed-off-by: BrettRD <[email protected]>

handle switch default

c7e09de

Signed-off-by: BrettRD <[email protected]>

BrettRD force-pushed the subscription_context branch from 1bc2711 to c7e09de Compare July 6, 2021 02:01

pablogs9 reviewed Jul 7, 2021

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JanStaschulat requested changes Jul 9, 2021

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BrettRD added 2 commits July 12, 2021 15:46

test subscription context passing

dcebfee

Signed-off-by: BrettRD <[email protected]>

add subscription context example

d75c2f0

Signed-off-by: BrettRD <[email protected]>

JanStaschulat approved these changes Jul 13, 2021

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JanStaschulat merged commit 5b11c5a into ros2:foxy Jul 13, 2021

mergify bot pushed a commit that referenced this pull request Jul 13, 2021

Adds a context pointer to subscriptions (#107)

a985b81

(cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt

mergify bot mentioned this pull request Jul 13, 2021

Adds a context pointer to subscriptions (backport #107) #120

Merged

mergify bot pushed a commit that referenced this pull request Jul 13, 2021

Adds a context pointer to subscriptions (#107)

4ee3509

(cherry picked from commit 5b11c5a) # Conflicts: # rclc_examples/CMakeLists.txt

mergify bot mentioned this pull request Jul 13, 2021

Adds a context pointer to subscriptions (backport #107) #121

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Adds a context pointer to subscriptions #107

Adds a context pointer to subscriptions #107

BrettRD commented Jun 30, 2021 •

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JanStaschulat commented Jul 13, 2021

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JanStaschulat commented Jul 17, 2021

ros-discourse commented May 25, 2022

	union {
	rclc_callback_t callback;
	rclc_subscription_callback_with_context_t subscription_callback_with_context;
	rclc_service_callback_t service_callback;
	rclc_service_callback_with_request_id_t service_callback_with_reqid;
	rclc_service_callback_with_context_t service_callback_with_context;
	rclc_client_callback_t client_callback;
	rclc_client_callback_with_request_id_t client_callback_with_reqid;
	rclc_gc_callback_t gc_callback;
	};

Adds a context pointer to subscriptions #107

Adds a context pointer to subscriptions #107

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BrettRD commented Jun 30, 2021 • edited Loading

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